Dynamic Event-Triggered Adaptive Asymptotic Tracking Control of Uncertain Systems With Unified Prescribed Performance

This paper presents a dynamic event-triggered unified performance adaptive control method for nonparametric strict-feedback nonlinear systems. In contrast to most existing static/dynamic event-driven controllers that only guarantee uniformly ultimately bounded tracking results, here by introducing an external auxiliary variable into the dynamic threshold strategy and using the robust technique with the integral function, not only the communication overhead is reduced and the Zeno phenomenon is precluded, but also the asymptotic zero-error tracking is achieved. The control design and stability analysis become quite complicated and challenging when the performance constraint is taken into account. By constructing a series of functional transformations in conjunction with the core information technique to handle the nonparametric uncertainty, the proposed controller is able to guarantee multiple prescribed performance characteristics by appropriately adjusting the key design parameter, eliminating the need to redesign the controller and reanalyze the stability. Finally, simulation results are conducted to demonstrate the effectiveness of the theoretical discussion. Note to Practitioners—The study of dynamic event-triggered control is an important topic for practical networked systems such as autonomous aerial vehicles, boiler turbine systems, chemical processes and robotic systems. If the impact of the event-triggered mechanism on the controller design is not considered, the system performance may deteriorate significantly. Although numerous works on this topic can be found in the literature, there are still some limitations in the design and implementation. In this paper, we propose a unified prescribed performance control method for some classical practical systems via the dynamic event trigger framework, which can effectively clarify the relationship between system performance and transmission resource consumption. By introducing an external auxiliary variable into the dynamic threshold strategy and using the integral function, not only the communication overhead is saved in the practical networked systems, but also the asymptotic zero error tracking is achieved. Moreover, by constructing a series of function transformations and using the core information technique, the proposed controller is able to guarantee multiple prescribed performance behaviors under a fixed control framework, eliminating the need to redesign the controller and reanalyze the stability, which is more in line with actual requirements.